| { |
| "Rigid": { |
| "watch": [ |
| { |
| "category": "watch", |
| "category_idx": 1, |
| "group": null, |
| "xlim": [ |
| -0.43, |
| 0.43 |
| ], |
| "ylim": [ |
| -0.23, |
| 0.0 |
| ], |
| "zlim": null, |
| "qpos": [ |
| 1, |
| 0, |
| 0, |
| 0 |
| ], |
| "rotate_deg": 60, |
| "rotate_rand": true, |
| "relative_plane": "Table", |
| "place_tag": null, |
| "margin": 0.01, |
| "check_mode": "bbox", |
| "need_check_stable": true, |
| "label": "cat0_0", |
| "default_pos": [ |
| -0.40802322845825206, |
| -0.12203619242559366, |
| 0.7785880424927307 |
| ], |
| "default_ori": [ |
| 0.7653133610483744, |
| 0.14176533666909494, |
| 0.6230643654195842, |
| -0.07738762991737992 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.045, |
| "friction": 0.25, |
| "type": "rigid" |
| }, |
| "visual": {} |
| }, |
| { |
| "category": "watch", |
| "category_idx": 1, |
| "group": null, |
| "xlim": [ |
| -0.43, |
| 0.43 |
| ], |
| "ylim": [ |
| -0.23, |
| 0.0 |
| ], |
| "zlim": null, |
| "qpos": [ |
| 1, |
| 0, |
| 0, |
| 0 |
| ], |
| "rotate_deg": 60, |
| "rotate_rand": true, |
| "relative_plane": "Table", |
| "place_tag": null, |
| "margin": 0.01, |
| "check_mode": "bbox", |
| "need_check_stable": true, |
| "label": "cat0_1", |
| "default_pos": [ |
| 0.215906878414737, |
| -0.1921080809630603, |
| 0.7785880424927307 |
| ], |
| "default_ori": [ |
| 0.7538229831110982, |
| 0.203027021135333, |
| 0.6058767554755045, |
| -0.1531153029480529 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.045, |
| "friction": 0.25, |
| "type": "rigid" |
| }, |
| "visual": {} |
| }, |
| { |
| "category": "watch", |
| "category_idx": 1, |
| "group": null, |
| "xlim": [ |
| -0.43, |
| 0.43 |
| ], |
| "ylim": [ |
| -0.23, |
| 0.0 |
| ], |
| "zlim": null, |
| "qpos": [ |
| 1, |
| 0, |
| 0, |
| 0 |
| ], |
| "rotate_deg": 60, |
| "rotate_rand": true, |
| "relative_plane": "Table", |
| "place_tag": null, |
| "margin": 0.01, |
| "check_mode": "bbox", |
| "need_check_stable": true, |
| "label": "cat0_2", |
| "default_pos": [ |
| -0.1519583399714462, |
| -0.2276238353894713, |
| 0.7785880424927307 |
| ], |
| "default_ori": [ |
| 0.7538812941945829, |
| -0.049196133242669894, |
| 0.6370921084196386, |
| 0.15282794288640297 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.045, |
| "friction": 0.25, |
| "type": "rigid" |
| }, |
| "visual": {} |
| } |
| ], |
| "pen": [ |
| { |
| "category": "pen", |
| "category_idx": 0, |
| "group": null, |
| "xlim": [ |
| -0.43, |
| 0.43 |
| ], |
| "ylim": [ |
| -0.23, |
| 0.0 |
| ], |
| "zlim": null, |
| "qpos": [ |
| 1, |
| 0, |
| 0, |
| 0 |
| ], |
| "rotate_deg": 60, |
| "rotate_rand": true, |
| "relative_plane": "Table", |
| "place_tag": null, |
| "margin": 0.01, |
| "check_mode": "bbox", |
| "need_check_stable": true, |
| "label": "cat1_0", |
| "default_pos": [ |
| -0.2635601815037494, |
| -0.14858921340074877, |
| 0.7731 |
| ], |
| "default_ori": [ |
| 0.7066173756682583, |
| 0.7066173756682583, |
| 0.02630369562824916, |
| 0.02630369562824916 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.018, |
| "friction": 0.32, |
| "type": "rigid" |
| }, |
| "visual": {} |
| }, |
| { |
| "category": "pen", |
| "category_idx": 1, |
| "group": null, |
| "xlim": [ |
| -0.43, |
| 0.43 |
| ], |
| "ylim": [ |
| -0.23, |
| 0.0 |
| ], |
| "zlim": null, |
| "qpos": [ |
| 1, |
| 0, |
| 0, |
| 0 |
| ], |
| "rotate_deg": 60, |
| "rotate_rand": true, |
| "relative_plane": "Table", |
| "place_tag": null, |
| "margin": 0.01, |
| "check_mode": "bbox", |
| "need_check_stable": true, |
| "label": "cat1_1", |
| "default_pos": [ |
| -0.07923195830819114, |
| -0.1212484876452268, |
| 0.7719 |
| ], |
| "default_ori": [ |
| 0.7066636211891302, |
| 0.025030511138720613, |
| 0.7066636211891302, |
| -0.025030511138720613 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.008, |
| "friction": 0.3, |
| "type": "rigid" |
| }, |
| "visual": {} |
| }, |
| { |
| "category": "pen", |
| "category_idx": 0, |
| "group": null, |
| "xlim": [ |
| -0.43, |
| 0.43 |
| ], |
| "ylim": [ |
| -0.23, |
| 0.0 |
| ], |
| "zlim": null, |
| "qpos": [ |
| 1, |
| 0, |
| 0, |
| 0 |
| ], |
| "rotate_deg": 60, |
| "rotate_rand": true, |
| "relative_plane": "Table", |
| "place_tag": null, |
| "margin": 0.01, |
| "check_mode": "bbox", |
| "need_check_stable": true, |
| "label": "cat1_2", |
| "default_pos": [ |
| 0.34048185983014095, |
| -0.17354072371459442, |
| 0.7725093813514188 |
| ], |
| "default_ori": [ |
| 0.940680014906217, |
| 0.012744326285395027, |
| -0.03463228307546431, |
| 0.33728222110356165 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.018, |
| "friction": 0.32, |
| "type": "rigid" |
| }, |
| "visual": {} |
| } |
| ], |
| "action_camera": [ |
| { |
| "category": "action_camera", |
| "category_idx": 2, |
| "group": null, |
| "xlim": [ |
| -0.43, |
| 0.43 |
| ], |
| "ylim": [ |
| -0.23, |
| 0.0 |
| ], |
| "zlim": null, |
| "qpos": [ |
| 1, |
| 0, |
| 0, |
| 0 |
| ], |
| "rotate_deg": 60, |
| "rotate_rand": true, |
| "relative_plane": "Table", |
| "place_tag": null, |
| "margin": 0.01, |
| "check_mode": "bbox", |
| "need_check_stable": true, |
| "label": "cat2_0", |
| "default_pos": [ |
| 0.2841692049881039, |
| -0.12896464666443863, |
| 0.765 |
| ], |
| "default_ori": [ |
| 0.9928958313890434, |
| 0.00012286271552148497, |
| 0.00018682793858199493, |
| -0.11898662954439519 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.06, |
| "friction": 0.45, |
| "type": "rigid" |
| }, |
| "visual": {} |
| }, |
| { |
| "category": "action_camera", |
| "category_idx": 0, |
| "group": null, |
| "xlim": [ |
| -0.43, |
| 0.43 |
| ], |
| "ylim": [ |
| -0.23, |
| 0.0 |
| ], |
| "zlim": null, |
| "qpos": [ |
| 1, |
| 0, |
| 0, |
| 0 |
| ], |
| "rotate_deg": 60, |
| "rotate_rand": true, |
| "relative_plane": "Table", |
| "place_tag": null, |
| "margin": 0.01, |
| "check_mode": "bbox", |
| "need_check_stable": true, |
| "label": "cat2_1", |
| "default_pos": [ |
| 0.12570654128252068, |
| -0.15422353888712045, |
| 0.7881997980244625 |
| ], |
| "default_ori": [ |
| 0.9721406600733159, |
| -0.00019449801384188945, |
| 4.658788481751379e-05, |
| -0.23439815919138315 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 0.085, |
| "friction": 0.32, |
| "type": "rigid" |
| }, |
| "visual": {} |
| } |
| ] |
| }, |
| "Geometry": { |
| "basket": [ |
| { |
| "category": "basket", |
| "category_idx": 2, |
| "group": null, |
| "xlim": [ |
| -0.28, |
| -0.28 |
| ], |
| "ylim": [ |
| 0.05, |
| 0.05 |
| ], |
| "zlim": null, |
| "qpos": [ |
| 1, |
| 0, |
| 0, |
| 0 |
| ], |
| "rotate_deg": 0, |
| "rotate_rand": false, |
| "relative_plane": "Table", |
| "place_tag": null, |
| "margin": 0.01, |
| "check_mode": "bbox", |
| "need_check_stable": true, |
| "label": "basket0", |
| "default_pos": [ |
| -0.28, |
| 0.05, |
| 0.8036 |
| ], |
| "default_ori": [ |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 1.8, |
| "friction": 0.45, |
| "type": "geometry" |
| }, |
| "visual": {} |
| }, |
| { |
| "category": "basket", |
| "category_idx": 3, |
| "group": null, |
| "xlim": [ |
| -0.0, |
| 0.0 |
| ], |
| "ylim": [ |
| 0.05, |
| 0.05 |
| ], |
| "zlim": null, |
| "qpos": [ |
| 1, |
| 0, |
| 0, |
| 0 |
| ], |
| "rotate_deg": 0, |
| "rotate_rand": false, |
| "relative_plane": "Table", |
| "place_tag": null, |
| "margin": 0.01, |
| "check_mode": "bbox", |
| "need_check_stable": true, |
| "label": "basket1", |
| "default_pos": [ |
| 0.0, |
| 0.05, |
| 0.8036 |
| ], |
| "default_ori": [ |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 1.2, |
| "friction": 0.45, |
| "type": "geometry" |
| }, |
| "visual": {} |
| }, |
| { |
| "category": "basket", |
| "category_idx": 4, |
| "group": null, |
| "xlim": [ |
| 0.28, |
| 0.28 |
| ], |
| "ylim": [ |
| 0.05, |
| 0.05 |
| ], |
| "zlim": null, |
| "qpos": [ |
| 1, |
| 0, |
| 0, |
| 0 |
| ], |
| "rotate_deg": 0, |
| "rotate_rand": false, |
| "relative_plane": "Table", |
| "place_tag": null, |
| "margin": 0.01, |
| "check_mode": "bbox", |
| "need_check_stable": true, |
| "label": "basket2", |
| "default_pos": [ |
| 0.28, |
| 0.05, |
| 0.8036 |
| ], |
| "default_ori": [ |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "mass": 1.2, |
| "friction": 0.45, |
| "type": "geometry" |
| }, |
| "visual": {} |
| } |
| ], |
| "camera_stand": [ |
| { |
| "category": "camera_stand", |
| "category_idx": 0, |
| "group": null, |
| "xlim": [ |
| 0.0, |
| 0.0 |
| ], |
| "ylim": [ |
| -0.47, |
| -0.47 |
| ], |
| "zlim": [ |
| 0.715, |
| 0.715 |
| ], |
| "qpos": [ |
| 0.707, |
| -0.707, |
| 0.0, |
| 0.0 |
| ], |
| "rotate_deg": 0, |
| "rotate_rand": false, |
| "relative_plane": "Ground", |
| "place_tag": null, |
| "margin": 0.01, |
| "check_mode": "bbox", |
| "need_check_stable": true, |
| "label": "camera_stand", |
| "default_pos": [ |
| 0.0, |
| -0.47, |
| 0.765 |
| ], |
| "default_ori": [ |
| 0.707, |
| -0.707, |
| 0.0, |
| 0.0 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "physics": { |
| "type": "geometry" |
| }, |
| "visual": {} |
| } |
| ] |
| }, |
| "Room": { |
| "default": "Simple_Room_nolight", |
| "default_pos": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "default_rot": [ |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "scale": [ |
| 0.5, |
| 0.5, |
| 0.5 |
| ] |
| }, |
| "Table": { |
| "default": "material_0122", |
| "scale": [ |
| 1.4, |
| 1.1, |
| 0.05 |
| ], |
| "default_pos": [ |
| 0.0, |
| -0.05, |
| 0.74 |
| ], |
| "default_ori": [ |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| }, |
| "Ground": { |
| "geometry": "cube", |
| "thickness": 0.1, |
| "axis": "Z", |
| "default_pos": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "materials": { |
| "type": "mdl", |
| "default": "material_0564", |
| "random": false |
| }, |
| "physics_material": { |
| "static_friction": 1.0, |
| "dynamic_friction": 1.0, |
| "restitution": 0.0, |
| "friction_combine_mode": "multiply", |
| "restitution_combine_mode": "multiply", |
| "compliant_contact_stiffness": 0.0, |
| "compliant_contact_damping": 0.0 |
| } |
| }, |
| "Background": { |
| "intensity": 1000, |
| "category_name": "brown_photostudio_02_4k.hdr" |
| } |
| } |
|
|
